Tribotix | Newcastle, Australia | P: | F: | W: Hykim: The Cuddly Rescue Bear Presented by Kymberly Cox University of Newcastle

Tribotix | Newcastle, Australia | P: | F: | W: IT'S A BEAR!!

Tribotix | Newcastle, Australia | P: | F: | W: IT'S A ROBOT!!

Tribotix | Newcastle, Australia | P: | F: | W: IT RUNS LINUX? Used with permission from Linus

Tribotix | Newcastle, Australia | P: | F: | W: IT RUNS LINUX!!

Tribotix | Newcastle, Australia | P: | F: | W: Project History ➢ RoboCup 4 Legged League is based around Sony Aibo. ➢ Attractive competition for Computer Science academics & students as it uses standard hardware, i.e. competition is then purely coding and algorithm based.

Tribotix | Newcastle, Australia | P: | F: | W: Project History ➢ Jan 2006 Sony announced it was ceasing production of the Sony Aibo. ➢ RoboCup issued a Call for Tender for a ‘Standard Robotic Platform’ to replace the 4 Legged League. ?

Tribotix | Newcastle, Australia | P: | F: | W: Project History Collaborative tender was submitted by:

Tribotix | Newcastle, Australia | P: | F: | W:

Project History Tribotix | Newcastle, Australia | P: | F: | W: Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear.

Project History Tribotix | Newcastle, Australia | P: | F: | W: Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear?

Project History Tribotix | Newcastle, Australia | P: | F: | W: Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear? Bear is BIG & STRONG: can handle size & weight of a complex electronic/battery system

Project History Tribotix | Newcastle, Australia | P: | F: | W: Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear? Bear is BIG & STRONG: can handle size & weight of a complex electronic/battery system Perform Quadrupedal & Bipedal motions Standing bear has higher viewing perspective

Project History Tribotix | Newcastle, Australia | P: | F: | W: Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear? Bear is BIG & STRONG: can handle size & weight of a complex electronic/battery system Perform Quadrupedal & Bipedal motions Standing bear has higher viewing perspective Use developed 4LL’ed team strategies

Design Philosophy Tribotix | Newcastle, Australia | P: | F: | W: ➢ Open Hardware

Design Philosophy Tribotix | Newcastle, Australia | P: | F: | W: ➢ Open Software

Tribotix | Newcastle, Australia | P: | F: | W: External Design ‘Body Suit’ Design …. The Uncanny Valley Mori.M 1970 The Uncanny Valley

Tribotix | Newcastle, Australia | P: | F: | W: Industrial Robot

Tribotix | Newcastle, Australia | P: | F: | W: Stuffed Animals

Tribotix | Newcastle, Australia | P: | F: | W: Humanoid Robot

Tribotix | Newcastle, Australia | P: | F: | W: Uncanny Valley Insert Moose

Tribotix | Newcastle, Australia | P: | F: | W: Human??

Tribotix | Newcastle, Australia | P: | F: | W: External Design ‘Body Suit’ Design …. The Uncanny Valley Mori.M 1970 The Uncanny Valley

Tribotix | Newcastle, Australia | P: | F: | W: External Design

Tribotix | Newcastle, Australia | P: | F: | W: External Design

Tribotix | Newcastle, Australia | P: | F: | W:

Motors

Tribotix | Newcastle, Australia | P: | F: | W: Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's

Tribotix | Newcastle, Australia | P: | F: | W: Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc

Tribotix | Newcastle, Australia | P: | F: | W: Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy

Tribotix | Newcastle, Australia | P: | F: | W: Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy  300°rotation

Tribotix | Newcastle, Australia | P: | F: | W: Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy  300°rotation  Resolution: 0.29°

Tribotix | Newcastle, Australia | P: | F: | W: Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy  300°rotation  Resolution: 0.29°

Tribotix | Newcastle, Australia | P: | F: | W: Hardware ●AMD Geode LX800 CPU at 500 MHz, 256 KB cache ●256 Mbyte DDR ●512 Mbyte Flash Disk ●WLAN / WiFi g Interface ●Video Input Port ●3 USB-2 ports ●Serial ports ●100 Mbps Ethernet port ●Low power consumption

Tribotix | Newcastle, Australia | P: | F: | W: Hardware ●2 Atmel Atmega128 Microcontrollers ●5 Axis IMU (Sparkfun SEN-00741) ●1 Axis Gyroscope breakout board (ADXRS150) ●Compass ●Infrared Distance Sensors ●Touch Sensors ●Webcam (off the shelf) ●Li-Po Batteries

Tribotix | Newcastle, Australia | P: | F: | W: Motors

Tribotix | Newcastle, Australia | P: | F: | W:

The Operating System ➢ Compulab's Gentoo, Windows CE, Windows XP

Tribotix | Newcastle, Australia | P: | F: | W: The Operating System ➢ Compulab's Gentoo, Windows CE, Windows XP ➢ Gentoo Image: Xorg? Touch Screen Drivers? No Man Files!!!

Tribotix | Newcastle, Australia | P: | F: | W: The Operating System ➢ Small Kubuntu = Debian

Tribotix | Newcastle, Australia | P: | F: | W: The Operating System ➢ Small Kubuntu = Debian ➢ Minimal install of Debian Etch (200Mb)

Tribotix | Newcastle, Australia | P: | F: | W: The Operating System ➢ Qemu: Emulate Geode (SCSI Flash) + CD Drive

Tribotix | Newcastle, Australia | P: | F: | W: The Operating System ➢ Qemu: Emulate Geode (SCSI Flash) + CD Drive ➢ Download to Geode: Etherlink, TinyFTP

Tribotix | Newcastle, Australia | P: | F: | W: Software ●Openssh-server ●Build-essentials including make, gcc, and g++ ●Python ●Vsftpd ●Webcam ●Apache ( ) used to do web serving ●Rt73 serialmonkey drivers ● Ntpdate ● Sudo

Tribotix | Newcastle, Australia | P: | F: | W: Robotic Motion and Camera Stability ➢ Motion ●Why?

Tribotix | Newcastle, Australia | P: | F: | W: Robotic Motion and Camera Stability ➢ Motion ●Why? ●Less power consumption ●Less processor time

Tribotix | Newcastle, Australia | P: | F: | W: Robotic Motion and Camera Stability ➢ Motion ●Why? ●Less power consumption ●Less processor time ●Stable walk

Tribotix | Newcastle, Australia | P: | F: | W: Robotic Motion and Camera Stability ➢ It looks better

Tribotix | Newcastle, Australia | P: | F: | W: Motion

Tribotix | Newcastle, Australia | P: | F: | W: Motion ➢ Equation of an Ellipse ➢ Constants need to be tweaked

Tribotix | Newcastle, Australia | P: | F: | W: Motion

Tribotix | Newcastle, Australia | P: | F: | W: Motion

Tribotix | Newcastle, Australia | P: | F: | W: Motion ➢ Matlab function [A1 A2]=ellipse2angle(t,a,b,h,k,L1,L2,output) A1=zeros(length(t),4); A2=zeros(length(t),4); %eqn of an ellipise x=h+a*cos(t); y=k+b*sin(t); %solve simultaneously eqn=solve('x=L1*cos(A1)+L2*cos(A1+A2)', 'y=L1*sin(A1)+L2*sin(A1+A2)', 'A1, A2');

Tribotix | Newcastle, Australia | P: | F: | W: Motion ➢ Angle In, Angle Out

Tribotix | Newcastle, Australia | P: | F: | W: Serial Communication ●Getting through the OS ●POSIX standard OS (IEEE 1003) ●Serial port treated as a file: TTYUSB0 ●Open, Read, Write, Close, Configure ●Baud Rates, Control Bits (8N1) ●

Tribotix | Newcastle, Australia | P: | F: | W: Putting It All Together Matlab csv Spreadsheet csv C Program Motors

Tribotix | Newcastle, Australia | P: | F: | W: Camera Stability ● Why? ●Less image processing ●Easier to keep track of the object being followed ●Decrease in mechanical fatigue

Tribotix | Newcastle, Australia | P: | F: | W: Stability ●Trying to model head ●Work out where every motor is ●Understanding accelerometer readings ●Static acceleration: 100 points approximately 1g ●Track the horizon: x=0 ●Very sensitive accelerometers ●Convert to motor points

Tribotix | Newcastle, Australia | P: | F: | W: Step Response

Tribotix | Newcastle, Australia | P: | F: | W: Videos

Tribotix | Newcastle, Australia | P: | F: | W: The Part You Have All Been Waiting For... The Demo

Tribotix | Newcastle, Australia | P: | F: | W: Thank you

Tribotix | Newcastle, Australia | P: | F: | W: Tribotix Plug ➢ Hykim (the bear)USD 15,000 ➢ Dynamixel (motors)USD ➢ RoboBuilder (motors) USD 35 ➢ Bioloid Kits (full robot) USD 350-3,500 (mention you saw us at LCA)

Tribotix | Newcastle, Australia | P: | F: | W: Any questions?